path_ops.h
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34 
35 #ifndef NAV_2D_UTILS_PATH_OPS_H
36 #define NAV_2D_UTILS_PATH_OPS_H
37 
38 #include <nav_2d_msgs/Path2D.h>
39 
40 namespace nav_2d_utils
41 {
45 double poseDistance(const geometry_msgs::Pose2D& pose0, const geometry_msgs::Pose2D& pose1);
46 
50 double getPlanLength(const nav_2d_msgs::Path2D& plan, const unsigned int start_index = 0);
51 
55 double getPlanLength(const nav_2d_msgs::Path2D& plan, const geometry_msgs::Pose2D& query_pose);
56 
64 nav_2d_msgs::Path2D adjustPlanResolution(const nav_2d_msgs::Path2D& global_plan_in, double resolution);
65 
75 nav_2d_msgs::Path2D compressPlan(const nav_2d_msgs::Path2D& input_path, double epsilon = 0.1);
76 
84 void addPose(nav_2d_msgs::Path2D& path, double x, double y, double theta = 0.0);
85 
86 } // namespace nav_2d_utils
87 
88 #endif // NAV_2D_UTILS_PATH_OPS_H
void addPose(nav_2d_msgs::Path2D &path, double x, double y, double theta=0.0)
Convenience function to add a pose to a path in one line.
Definition: path_ops.cpp:184
double poseDistance(const geometry_msgs::Pose2D &pose0, const geometry_msgs::Pose2D &pose1)
Calculate the linear distance between two poses.
Definition: path_ops.cpp:43
nav_2d_msgs::Path2D compressPlan(const nav_2d_msgs::Path2D &input_path, double epsilon=0.1)
Decrease the length of the plan by eliminating colinear points.
Definition: path_ops.cpp:176
nav_2d_msgs::Path2D adjustPlanResolution(const nav_2d_msgs::Path2D &global_plan_in, double resolution)
Increase plan resolution to match that of the costmap by adding points linearly between points...
Definition: path_ops.cpp:76
double getPlanLength(const nav_2d_msgs::Path2D &plan, const unsigned int start_index=0)
Calculate the length of the plan, starting from the given index.
Definition: path_ops.cpp:48


nav_2d_utils
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autogenerated on Wed Jun 26 2019 20:06:11